CN104411566B - Track of vehicle control device - Google Patents
Track of vehicle control device Download PDFInfo
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- CN104411566B CN104411566B CN201380035566.1A CN201380035566A CN104411566B CN 104411566 B CN104411566 B CN 104411566B CN 201380035566 A CN201380035566 A CN 201380035566A CN 104411566 B CN104411566 B CN 104411566B
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- 238000011897 real-time detection Methods 0.000 claims abstract description 4
- 239000011159 matrix material Substances 0.000 claims description 66
- 238000000034 method Methods 0.000 claims description 23
- 230000008859 change Effects 0.000 claims description 16
- 238000005457 optimization Methods 0.000 claims description 11
- 238000005245 sintering Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 230000004913 activation Effects 0.000 claims description 2
- 238000013500 data storage Methods 0.000 claims description 2
- 210000000352 storage cell Anatomy 0.000 claims description 2
- 230000015572 biosynthetic process Effects 0.000 abstract 1
- 230000005484 gravity Effects 0.000 description 13
- 230000009471 action Effects 0.000 description 10
- 230000006870 function Effects 0.000 description 7
- 238000003860 storage Methods 0.000 description 6
- 239000000047 product Substances 0.000 description 5
- 238000013139 quantization Methods 0.000 description 4
- 230000006399 behavior Effects 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000005293 physical law Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000017105 transposition Effects 0.000 description 2
- 208000027534 Emotional disease Diseases 0.000 description 1
- 230000005355 Hall effect Effects 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
In order to control the track of vehicle (1), this device includes representing a deviation (Ψ between reference locus and the actual path of this vehicle for receivingL, yL) one amount input (43,44) and for real-time at least one outfan (46) producing an angle of lock set point (δ r*), this angle of lock set point can be applicable to the rear wheel of this vehicle (1) this vehicle to be maintained on its reference locus and/or to return it to its reference locus.This device is distinguished by, and this device includes being formed with respect to each deviation (Ψ being received for real-timeL, yL) with a proportionality coefficient (k quantifying offlineΨ, ky), to optimize the mode changing this offset control point (δ r*) and to include supervision module (48), this supervision module is parameterized offline so that in this supervision module (48) real-time detection to calculated a, deviation (Ψ for the module (50) of deflection set point (δ r*) that linearly changesL, yL) cross threshold value overshoot risk when activate this formation module (50).
Description
Technical field
The present invention relates to a kind of real-time vehicle TRAJECTORY CONTROL activates generator.The invention still further relates to one kind be equipped with this
The vehicle of device.
Background technology
The present invention especially solution is needs to active accident prevention.Today, caused due to unexpected run-off-road
Accident still occupies significant accident ratio.In order to strengthen passenger safety, motor vehicle design teacher has passed through to produce more resistant to punching
Hit and absorb the vehicle of the energy being produced by shock of notable ratio and improve passively preventative.Actively prevention is related to produce
Allow the vehicle to estimate its dynamic characteristic and identify its environment, to have the risk evaluation reflecting its situation.Then permissible
Take steps to automatically or together with driver lacking Vigilance, sleeping, sick or extemporal external event (for example
Occur strong wind or road not perfectly flat) in the case of vehicle is maintained in its track.Here it is actively maintaining the safe work(of track
Energy (" track holding " or " avoiding run-off-road ").
The inclusion file US 7236884 known from the prior art, the track that this document discloses for motor vehicles is inclined
From prevention apparatus.It is applied with brake force and/or course changing control to control yawing velocity to cause partially because road is uneven
From in the case of make vehicle be back to the center in track.
The method and apparatus disclosing in this file is acted on to the steering of front vehicle wheel, and this causes for vehicle driver
Puzzlement.Driver may be clearly felt that disturbance sensuously on his or her steering wheel.
Generally in the prior art, actively auxiliary is via the electronic assisted diversion to front vehicle wheel or by wheel
Differential braking is providing.In the previous case, driver feels this assistant interventional steering wheel, and this possibly makes us
Disagreeable or a fascination source.In the case of the latter, undesired braking and this action of vehicle are created
Mistakenly may be understood by driver.And, this to braking action the time and its aspect occurs and is not necessarily restricted, change
Sentence is talked about, and decreases the number of the possible braking maneuver wanting driver to agree to.This action to braking makes it impossible to think
Track as just carrying out keeps auxiliary.
The major issue that function implements auto-action is maintained to be to share this car with driver for active track
Guiding action.
An adjoint problem is to find to be suitable for changing track of vehicle to prevent the active auto-action of run-off-road
And its action is neither obtain the actuator of good compromise between the sensation of known also unpredictable driver.
Content of the invention
Present invention aim to address these problems of prior art, especially in terms of effectiveness, and avoid can simultaneously
The energy loss cherished.
In order to realize this purpose, the present invention proposes not with driver using same actuator so as not to disturb him or she
And avoid the loss of any energy and speed as under brake condition.
For this reason, subject of the present invention is a kind of device for controlling track of vehicle, this device one side is included for connecing
Receipts represent at least one amount of the one or more deviations between reference locus and the actual path of this vehicle at least
One input and on the other hand include for real-time at least one outfan producing at least one angle of lock set point, should
At least one angle of lock set point can be applicable at least one rear wheel of this vehicle so that described vehicle is kept it with reference to rail
Mark and/or return it to its reference locus it is characterised in that this device includes：
- for real-time produce linearly changed with a proportionality coefficient quantifying offline with respect to each deviation described in
At least one module of angle of lock set point, to optimize the mode changing this angle of lock set point；
- at least one supervision module, this at least one supervision module is parameterized offline so that in this supervision module
This generation module is activated when real-time detection is to risk that calculated, at least one deviation threshold overshoot.
Advantageously, described supervision module is included for determining that in the case of the activation of this generation module at least one is inclined in real time
The device of at least one achievable maximum of difference, so that detection is more than or equal to a predetermined threshold when described achievable maximum
Described overshoot risk during value.
Especially, this device include at least representing described in the input end in this device receives one or more
The amount of deviation addressable in real time and comprise to be associated with the centrifugal pump of described representative amount this or these can achieve maximum
One group of data storage cell of value.
More particularly, this or these achievable maximum is by mean of searching based on the convex optimization to convergent matrix
Suo Chengxu and calculate offline, this convergent matrix meets at least one LMI so that described these can
Realize the square root that maximum is equal to the diagonal element of described convergent matrix.
Alternatively, described device include real time access receive in the input end of this device described in represent one or
The amount of multiple deviations and contain the batch processing memory element of a search utility based on the convex optimization to convergent matrix,
This convergent matrix meets at least one LMI, so that these achievable maximums described are equal to described convergence
The square root of the diagonal element of matrix.
Preferably, the described search utility based on convex optimization is from a minimum covering this or these deviation
Beginning, area started.
Specifically, described minimum sintering also covers at least one current intelligence value.
Another theme of the present invention is a kind of method for controlling track of vehicle, and the method is by by representing this
At least one amount of one or more deviations between reference locus and actual path for of vehicle to produce at least one in real time
Individual angle of lock set point, this at least one angle of lock set point can be applicable at least one rear wheel of this vehicle so that will be described
Vehicle is maintained on its reference locus and/or returns it to its reference locus it is characterised in that the method includes following step
Suddenly, these steps are：
- determine in real time at least one in the case that an angle of lock set point is applied at least one rear wheel of this vehicle
At least one attainable maximum of individual deviation；
- produce when described achievable maximum is more than or equal to a predetermined threshold, described angle of lock set point in real time
Changed with a proportionality coefficient quantifying offline with respect to each deviation being received to optimize this angle of lock of change
The mode of set point thus be applied at least one rear wheel of this vehicle by described angle of lock set point.
Specifically, the method comprises the following steps, and these steps are：
At least described amount representing one or more deviations of-real time access；
- convergent matrix is searched for by convex optimization, this convergent matrix meets at least one LMI, with
So that these achievable maximums described are equal to the square root of the diagonal element of described convergent matrix.
Another theme of the present invention is a kind of computer program, and this computer program is included when described program is in computer
For executing multiple code instructions of these steps of claimed method during upper execution.
The solution of the present invention provides the advantage that.
The rear wheel of this vehicle rotates according to a kind of closed loop control laws, and this closed loop control laws considers driver and exists
Action on the steering wheel and vehicle position in track.
The control law of this steering rear wheel allows auto-action and exists while driver actions with by making to drive
The mode that the person of sailing frees assists described driver vehicle to be maintained at the center in track and there are not driver actions
In the case of make it possible to avoid unexpected run-off-road.
The threshold value overshoot risk calculating makes it possible to the autonomy of driver's offer maximum possible limit
The intervention of this auxiliary.
This closed loop control laws is stable.
Brief description
By explanation below reading and referring to accompanying drawing, further features and advantages will be clear from, in the accompanying drawings：
- Fig. 1 represents a kind of vehicle that can apply the present invention,
- Fig. 2 is a kind of sketch of the device deferring to the present invention,
- Fig. 3 is the sketch that the traveling to vehicle is modeled,
- Fig. 4 is a curve of the potential trend of trajector deviation,
The step that-Fig. 5 shows the method according to the invention.
Specific embodiment
As shown in Figure 1, vehicle 1 includes 2, two, chassis steering front vehicle wheel 3 and 4 and two steering rear wheels 5 and 6,
These wheels are linked on chassis 2 by a hitch not shown.
Vehicle 1 supplements and carries a steering 7, and this steering includes be arranged between front vehicle wheel 3 and 4 one
Tooth bar 8, be adapted so that front vehicle wheel 3 and 4 according to never show be available for the steering wheel of vehicle driver's use mechanically or
The rack actuator 9 being oriented by tooth bar 8 to the instruction being received electronically by.
This angle of lock supplementary controlled system 10 includes a control unit 11, the locking Angle Position of sensing front vehicle wheel 3 and 4
One sensor 12 (being for example positioned on actuator 9), sense the rotary speed of these front vehicle wheels and make it possible to determine car
The sensor 13 of speed V taken turns, the beat speed sensing this vehicle(that is, vehicle along vertical axis with regard to
The rotary speed of its center of gravity) a sensor 14 and a sensor sensing the lateral acceleration at this vehicle's center of gravity
15.Sensor 14 is such as one gyroscope.The sensor 15 generally running for the present invention is dispensable.
Additionally, system 10 include sensing the sensor 17 of the angle of lock of rear wheel 5 and 6 and 18 and make it possible to by
The actuator 19 and 20 of described rear wheel 5 and 6 orientation.However, a single sensor 17 and a single actuator 19
It is sufficient to possibly for detection angle of lock and the orientation for rear wheel 5 and 6.These position sensors and velocity sensor can
To be optical type or even magnetic type, such as hall effect sensor, when this sensor does not rotate be fixed to
Encoder cooperation on one movable part.
This control unit 11 can be to be equipped with random access memory, read only memory, CPU and input/defeated
The form of one microprocessor of outgoing interface produces, and these input/output interfaces make it possible to receive letter from these sensors
Cease and send instruction, be especially destined to actuator 19 and 20.
More specifically, control unit 11 includes controlling a control device 40 of the track of vehicle 1, such as in this reference picture
2 are explained.
In the embodiment that Fig. 2 is shown, control device 40 1 aspect is included for receiving completely or partially generation respectively
Deviation β between reference locus and actual path for of this vehicle of table,ΨL、yLInput 41,42,43,44 simultaneously
And on the other hand include an angle of lock set point δ r* for producing the rear wheel 5,6 being applied to vehicle 1 at least one is defeated
Go out end 46.
Before the structure entering device 40 and operational details, based on reference locus representated by the dotted line in Fig. 3
30 looking back the Behavior law of vehicle 1.
Started with bicycle model the track 30 of vehicle 1 to be tracked analyze.As known in correlative technology field,
Vehicle 1 is compared as single line shape bar by this bicycle model, this wire bar have passed through this vehicle center of gravity CG and with regard to this
The plane of figure is at a right angle and an axis that have passed through center of gravity have with this vehicle identical Moments of inertia J and with this vehicle phase
Same mass M.
This reference locus 30 is in absolute frame { Oa, Xa, YaIn represent.In each moment t, with respect to this track
One point OtTo identify the position of vehicle, this point constitutes a kinesiology relative reference system { Ot, Xt, YtInitial point, wherein
Axis XtWith this track in point OtPlace is tangent.Axis XtAxis X with this absolute frameaForm an angle Ψd.This angle
ΨdIt is commonly referred to as target course in field of the present invention.
When vehicle follows its track in the perfection of moment t, the point O of center of gravity CG and track 30tIt is harmonious.When center of gravity CG with figure
Axis X in 3 planetAxis Y at a right angletDuring upper deviation, situation is not such.
Center of gravity CG constitutes relative reference system { CG, the X being associated with vehicleCG, YCGInitial point, wherein axis XCGBe with
In this bicycle model, this bar associated by this vehicle is conllinear.Associated relative reference system { CG, XCG, YCGAnd should
Kinesiology relative reference system { Ot, Xt, YtDefine an angle ΨL.The preferable feelings being guided according to the tangent line of track 30 in vehicle
Under condition, angle ΨLValue be zero.Otherwise, angle ΨLNonzero value constitute track deviate.
With regard to this absolute reference system { Oa, Xa, Ya, center of gravity CG is with speed VCGDisplacement, the vector of this speed is in associated phase
To reference frame { Ot, XCG, YCGIn represent and and axis XCGDefine angle beta.Then the velocity of center of gravity is included in axle
Line XCGOn one-component v=VCGCos β and in axis YCGOn one-component u=VCG·sinβ.Speed u corresponds to horizontal stroke
To in the sliding velocity of vehicle.Speed v corresponds to the longitudinal velocity of vehicle, is equal to speed V in the case of no slidingCG.Angle beta one
As be referred to as yaw angle.
It will be recalled that, in correlative technology field, vehicle is with regard to a plane with this figure axis Z at a right angleaRotation
Speed is referred to as beat speed.In the case of following explanation of the invention, beat speed letter r represents.Due to beat
Speed is the derivative with respect to the time for the actual heading angle Ψ of vehicle, and it is defined with below equation：
In the bicycle model that Fig. 3 is shown, represent front vehicle wheel 3 and 4 with single front vehicle wheel, this single front vehicle wheel with
Axis XCGWith center of gravity CG at a distance of one apart from lfLocate, define an angle δf, for the sake of clarity, this distance is not add
It is added to one of figure distance.This single front vehicle wheel presents the driftage rigidity of the driftage rigidity sum equal to each wheel 3,4
cf, this two driftage rigidity be from wheel tyre supplier or obtained by means of the testing results endless track overall
Upper identical value.
Similarly, represent rear wheel 5,6 with single rear wheel, this single rear wheel and axis X CG with center of gravity CG phase
Away from one apart from lrLocate, define an angle δ r, for the sake of clarity, this distance is not added in figure yet.After this is single
Wheel also presents driftage rigidity c of the driftage rigidity sum equal to each wheel 5,6r, this two driftage rigidity are from wheel
Tire supplier or the generally identical value being obtained by means of the testing results on endless track.
As angle of lock δfAnd δrWhen there is null value, the change of yaw angleChange with beat speedMeet hereinafter
The noiseless Kinematics Law considering little yaw angle and recalling：
In the formula being given above limiting beat speed, the change of yaw angle can also be expressed as this in the following manner
Curvature ρ of reference locus 30refFunction, curvature ρrefIt is equal to the point O in each moment ttThe inverse of place's radius of curvature R.
In this way, for uniform straight path, obtain herein below：
Represent in the bicycle model of vehicle 1 it is contemplated that axis X in Fig. 3tWith axis XCGBetween deviation yL, should
Deviation can on front part of vehicle, in front of center of gravity CG one apart from lsPlace records.
It should be noted that when its track is followed in vehicle perfection, especially when lateral shift and the driftage angle beta tool of center of gravity CG
When having null value or cancelling each other out, this deviation is as general as zero.Also there is situations below：Its track is followed in vehicle perfection, and due to
The curvature of this reference locus, has the lateral deviation of non-zero at front part of vehicle.
The sketch of Fig. 3 will be observed that, axisThe change of deviation meet following geometric equation：
As angle beta and ΨLHour is it is also possible to write out above geometric equation：
The state arrow that the enforcement of the present invention considers the agreement write by using matrix language as follows and limits
Amount x, wherein writes on the transposition that the tee on a vector or the index of matrix represents this vector or this matrix：
β, r, ΨL, yL)T=x
The physical law explained by estimation vehicle behavior on its track above can be by defined below one
State trend matrix A is summarizing.
It should be noted that in addition to speed parameter v, used in state trend matrix A, these parameters are same in vehicle
It is constant in secondary movement.
In the case of there is not external disturbance, then real-time tendency on straight path for state vector x is as follows：
When track 30 non-rectilinear, curvature ρrefChange in this state vectorOne interference vector B of upper introducingρ, so that
?：
Wherein Bρ=(0,0 ,-v, 0)T
This its exterior for vehicle being kept other actions on its track regardless of whether being through careful consideration
, it is considered as the interference that can cancel each other out or cannot cancel each other out.
Thus, for example, controlled by driver, the angle of lock of these front vehicle wheels that are especially meeting trajectory tortuosity have also been introduced
One interference vector Bf, that the impact of this interference vector is controlled by the steering wheel between driver's both hands, even by one
The angle of lock δ of (the two is all from the situation of the present invention) these front vehicle wheels that automatic control system controlsfProportional state arrow
The time trend of amount x.
Relate to more random and be more difficult to other interference, such as one beam wind or for example due to thin transparent measuring
The earth-grasping force discontinuity that ice causes.
Since (being considered in the present case with respect to the physical law of the behavior with reference to track 30 from controlling vehicle
Important) in already explained above, we are now to explain to state vector x, how the present invention acts so that it is in and allows
Vehicle keeps corresponding on its track and multiple is worth and so that this state vector is stably maintained in these values.
Device 40 includes a module 50, and this module is arranged to produce a stabilisation set point δ in real timer*.Change speech
It, this set point δr* seek is to obtain constant perfect state vector x followed the trail of reflecting this reference locus 30.
In order to accomplish this point, at least one value of the state variable in each moment t reception state vector x for the module 50, excellent
Select each value, especially each deviation β, ΨL、yLValue with actual beat speed r.Actual beat speed r includes one and this rail
The beat speed that mark is consistent meets beat speed beat devious speed sum with one with respect to described.Therefore, beat
The only a part of speed r represents a rail when there is the beat speed that the track showing curvature with this is consistent
Mark deviation.That track that beat speed r totally represents is trajector deviation during straight line.
In order to measure or estimating the value of these state variables, vehicle 1 also includes a camera 31 in addition to sensor 14.
Camera 31 is arranged at the front portion of vehicle, for example, flush with centre rear-view mirror, to shoot the image of vehicle front road, and
Thus derive position on road for the vehicle by means of image processing software.Camera 31 is for measurement lateral deviation yLIt is special
Useful.The sensor 14 being preferably form of gyroscopes is transmitted in this fixed reference frame { O in real timea, Xa, YaIn vertically inclined
Slew rate degree r.And, angle ΨLCan be but be not necessarily by means of known type electronic compass or by means of similar to
In estimation lateral deviation yLImage processing algorithm obtaining.
Input frame 22 from sensor 12 to 14 receipt signal and especially receives car speed V, beat speedWith
And the angle δ of front vehicle wheelf.Car speed can be by calculating these front vehicle wheels and/or rear wheel, passing through wheel anti-lock
The speed average of these sensors measurement of system is obtaining.In the case, provide a sensor to each wheel
13, the outfan that this anti-wheel lock system includes is connected on the input of this control unit 11 to provide wheel speed
Degree information.Alternatively, each sensor 13 is attached on the input of control unit 11, and this control unit 11 then calculates these
The speed average of wheel.Frame 22 transmits beat speed r to input 42, by angu-lar deviation ΨLTransmit to input 43
And by deviation yLTransmit to input 44, these values are real-time transmitted to module 50.If frame 22 has for estimating partially
Boat angle beta device, then the value of this yaw angle be transferred to input 41 to be transmitted directly to module 50.Frame 22 is not had
For the situation of the device of estimation driftage angle beta, device 40 can include a module 47, and this module is by being transferred to input 41
Car speed v, the front wheel lock angle till being transferred to input 45 and beat speed r having received at input 42
To estimate driftage angle beta.Module 47 is followed by the state observer next life taught using patent EP 1544080 B1
Become an estimation yaw angle being intended to for module 50
Module 50 produces set point δr*It is by by deviation ΨLAnd/or yL is multiplied by a gain factor k respectivelyΨ、kySo that
Use it in the angle of lock of rear wheel, eliminating each handled deviation.
Preferably, module 50 comprises at least one gain vector that dimension is equal to the dimension of state vector x in memory
K.
K=[kβ, kr, kΨ, ky]
Module 50 then passes through the invariant product calculating gain vector K and state vector x and generates set point δr*.
Therefore, set point δr*With respect at least one deviation ΨL、yLWith a proportionality coefficient kΨ, ky linearly changes.This
Individual or these proportionality coefficients are offline determinations thus optimizing change this stabilisation set point δr*Mode, such as will be in this specification
In hereafter finding.
As set point δr* it is transferred to outfan 46 so that as angle of lock set point δr* to be applied to these and to turn to rear car
During wheel, the expression following formula of its simplest form is given：
It is applied to angle of lock reference value δ of the actuator 19,20 of rear wheelr* provide an angle of lock δr, this angle of lock
It is equal to angle of lock reference value δ in the responsive time constant of these actuatorsr*.
It will be recalled that, relate to angle of lock δ in these state variables followingr：
By interaction vector Br is defined so that：
Obtain closed loop vehicle-state equation：
For selecting control law must make multiple assessment.Vehicle is with respect to the dynamic stability of beat speed and yaw angle
It is by these factorsControl.It is by these factors k that vehicle is maintained in track on roadΨLΨL+
kyLyLControl
It should also be noted that the Close loop servo control matrix A limiting in state equation explained aboveclIncluding vehicle shape
State trend matrix A and interaction vector Br and the product of the transposition of gain vector K, these give dimension and are equal to state trend
One matrix of the dimension of matrix A.
Since it has been explained that controlling the counteractive physics law of the non-zero angle of lock to rear wheel for the vehicle, we will solve
Release the K how quantifying in exemplary control law to obtain stability.
The mode that gain vector K is quantized is to make Close loop servo control matrix AclIncluding having the many of negative real part
Individual limit.
As finding before, matrix AclIncluding the multiple coefficients depending on speed.Vector for one given speed v of vehicle
The optimal quantization of K is not necessarily optimal for another speed.Gain vector K includes special in the moment using gain vector K
Multiple values for a vehicle present speed v.
When track control device 40 is provided to only v and be possible to around with this predetermined speed v at a predetermined velocity
When speed in the individual margin of tolerance is run, this generation module 50 includes an array storage unit to comprise the coordinate of gain vector K, this
A little coordinates include proportionality coefficient kβ、kr、kΨ、ky.
When track control device 40 is provided to run in the range of an expansion of car speed v, this generation mould
Block 50 can include many array storage units, and each column comprises the coordinate of gain vector K mating with a discrete velocity amplitude.For position
A vehicle between two immediate discrete velocity amplitudes (many array storage units are assigned to these discrete velocity amplitudes) is worked as
These values of the gain vector K of front speed v be by this two value arranging between linear approximation calculate.
It is also possible to providing a single array storage unit, change and when car speed changes with car speed,
These values of gain vector K are downloaded in these memory element.This array storage unit then act as this generation module 50
Execution buffer.
This generation module 50 execution state vector x is with gain vector K, namely sampling high with executes frequency (for example
50Hz or bigger) real-time multiplication, thus not damaging the stability of this regulation loop.
The value of gain vector K is offline quantization, that is, with a sampling execution frequency quantity less than this enforcement frequency
Change, such as with 1Hz or less, even with zero frequency.It is possible to the multiple vehicles for same type, under zero frequency, increase
The value of beneficial vector K is only calculated only once, then makes it available in memory.This offline quantization can be in device 40
Carry out, if this device has enough computing resources.This offline quantization can also can be used for vehicle development department
In powerful computer in complete, so as not to increase the cost of device 40.
It is purely acting as showing and in the way of nonexcludability, explain now and carry out gain vector K for single speed v of vehicle
Offline generation method.It will be appreciated that the action of the method be according to musted how long repeating to cover this vehicle
Some possible speed.When having covered all possible speeds, the storage of the value of gain vector K avoids having to again swash
It serves somebody right production method.
To wander back to, the dynamic stability rule for linear system requires limit A of this matrixcl=A+BrK has
There is negative real part.Will also occur, if there is function V (x)=xTPx wherein P is defined as a positive side
Shape matrix (referred to as Liapunov function), then meet this require so that：
By it is contemplated that vector x for any non-zero, square matrix is respectively in the quadric form being limited by this matrix
It is respectively defined as positive or negative when positive or negative.For example, this in the case of above in relation to matrix P that is, function V (x)
X value for any non-zero is just all.
Generally rule and the selection matrix A of the derivative of matrix productclTo replace leading of vector x with the product of vector x
Number has obtained following equivalent matrix equation：
With the left-hand component of upper inequality represent be a definition negative matrix, wherein pass through matrix AclReplace with it
An expression formula as the function of A and K：
(A+Br·K)T·P+P·(A+BrK) ＜ 0
Above MATRIX INEQUALITIES comprises two unknown numbers：Vector K and matrix P.Necessarily this matrix is not or not vector K and matrix P
The solution of equation.
Above MATRIX INEQUALITIES is difficult to solve, because it passes through the product of its included unknown matrix P and unknown vector K
Constitute a secondary tensor polynomial.
By a matrix Q=P being multiplied by with the right and left of upper inequality-1And by executing dijection variable change
Y=K Q, it is possible to obtain following MATRIX INEQUALITIES：
Q·(AT+KT·Br T)+(A+BrK) Q ＜ 0
By developing the composition part of the inequality of this suitable acquisition, find that this MATRIX INEQUALITIES is new with respect to this two
Unknown number Q and Y is linear：
Q·AT+YT·Br T+A·Q+BrY ＜ 0
There are many instruments can solve LMI on market.One pure illustrative and the example of nonexcludability
The situation of " the Toolbox LMI " of especially well-known entitled " Matlab ".Satisfaction can also freely be found on the Internet
The software tool of GNU license.
Then found out by convex optimization using one of these known means and verify above linear moments
Unknown matrix Q and unknown vector Y.
Then made it possible to the unknown vector Y found out using this instrument in the method and found out not
Know that simple multiplication of matrix Q obtains gain vector K.
Device 40 makes it possible to the angle of lock of rear wheel is worked using gain vector K and forces vector
The state of x returns to corresponding with there is not a trajector deviation situation reference value.Different from any servo control loop, fill
This embodiment putting 40 has the response time being associated from the different transmission functions of involved vehicle.
In order to reduce response time, introduce a positive constant ξ to solve this MATRIX INEQUALITIES as follows：
Q·AT+YT·Br T+A·Q+BrY+2 ξ Q ＜ 0
It can be made beyond actuator 19,20 in order to ensure obtained gain vector K does not generate one to rear wheel
Go out the angle of lock set point of response, this instrument is provided with maximum allowable locking angle value δ of rear wheelr maxAnd require it observe with regard to
Vector Y and the following constraint of matrix Q：
Gain vector K in order to ensure being obtained does not cause so that correction start point is located at the journey within nominal drive area
The trajector deviation of maximum permissible value is exceeded on degree, this instrument is provided with the maximum allowable state variable value defining nominal drive area
±β N、±r N、±ΨN、±yL N, and require it with regard to including this eight squares of matrix Q and wire matrix zi (i is changed to 8 from 1)
Each of battle array is in compliance with following constraint：
Finally, this instrument is configured to scan for by way of minimizing the mark of this unknown matrix Q by convex optimization
With in accordance with constraint discussed above.
The invention that will be explained below is not limited to control law explained immediately above.It will be appreciated that with except
The other values of the gain K that the algorithm outside a kind of algorithm explained above calculates be readily adaptable for use in based on these organize can be real
Present condition implements the method.As known per se, this closed loop control transmission function be enough to have meet common stability indicator
Negative pole point, so that angle of lock set point δr* most preferably change.
As shown in Figure 2, this track control device 40 includes a supervision module 48, and this supervision module generates in prison
Superintending and directing module 48 real-time detection is had deviation β, r, Ψ to calculateL、yLOne of threshold value overshoot risk when activate this generation module 50
A signal
This supervision module 48 includes the mechanism of an offline parameter, will activate this with real-time determination in this supervision module 48
Deviation β, r, Ψ in the case of generation module 50L、yLAttainable one or more maximum βmax、rmax、ΨL max、yL maxCollection
Close w, so that these achievable maximum β are worked as in detectionmax、rmax、ΨL max、yL maxOne of absolute value be more than or equal to inclined with each
Overshoot risk during the threshold value of difference correlation connection.For the target purely shown with nonexcludability, the threshold value being associated with driftage angle beta
There is the predetermined value for 5 °, the threshold value being associated with beat speed r has the predetermined value for 5 °/s, is associated with heading angle deviation
Threshold value there is predetermined value for 5 °, and with lateral deviation ΨLAssociated threshold value has width and vehicle equal to track
The predetermined value of the half of the difference of width.
This mechanism of supervision module 48 is by mean of the whole of this track of vehicle control method or some of them step is offline
Ground is parameterized, is in other words typically next parameterized with a frequency of the frequency less than real-time clock, referring now to Fig. 5
To explain.
The method is by deviation β, r representing between the reference locus 30 of vehicle and actual path, ΨL、yLMultiple amounts come real
When produce angle of lock set point δr*, this angle of lock set point can be applicable to one or more rear wheels of this vehicle.
When this angle of lock set point is applied to one or more rear wheel of this vehicle, this angle of lock set point δr*
Make it possible to be maintained on its reference locus or return it to its reference locus vehicle do not disturb driver to front truck
The control of wheel.The method comprises the following steps.
Step 100 is that real time access defines that these of state vector x represent deviation β, r, ΨL、yLAmount to limit
Determine by current nominal value βN、rN、ΨL N、yL NThe sintering z defining.
In the diagram, for example by supposing that state variable β, r is zero, use state variable ΨL、yLOne of plane rectangle
To represent sintering z.
Lock onto angle of lock set point δr* the trailing wheel angle of lock δ going uprSo that the destination county in state vector x follows one
Bar track, current point x represented by from this in figure for this track0Start and tied with final poised state in the center of referential
Bundle, these state variables ΨL、yLThen it is zero.Current point x of the terminal of state vector x0It is to scan these state variables
Moment t Real Time Observation arrives.
It will be appreciated that the track of the terminal of state vector x in Fig. 4 is not vehicle in the physical space on road
Track, but the duplication in the space of these states with respect to reference locus 30 in this physical space for the vehicle, such as
Shown in Fig. 3.
The rectangle of this figure comprises with coordinate ΨL、yLPoint so that：
-ΨL N＜ ΨL＜+ΨL NWith-yL N＜ yL＜+yL N
It is clear that there is not the master that can not be offset by the angle of lock of rear wheel before being converged in final poised state
In the case of disturbing, the track of the terminal of vector x may exit off sintering z but never leaves an attainable set, should
Set is limited by an irregular closed curve in the diagram.
It will be appreciated that this sintering and attainable set are in fact to be equal to state variable number in a dimension
By the excessive volume that multi-surface is limited excessively in space.
Be associated with each state variable and more properly with each variable β, r, ΨL、yLIn association, device 40 exists
Comprise in memorizer positioned at zero and maximum nominal value βN max、rN max、ΨL N max、yL N maxBetween series of discrete nominal value βN、
rN、ΨL N、yL N：
|β|→{0.5°；1°；1.5°；...；βN max-1°；βN max-0.5°；βN max}
|r|→{0.5°/s；1°/s；1.5°/s；...；rN max-1°/s；rN max-0.5°/s；rN max}
|ΨL|→{0.5°；1°；1.5°；...；ΨL N max-1°；ΨL N max-0.5°；ΨL N max}
|yL|→{0.1m；0.2m；0.3m；...；yL N max-0.2m；yL N max-0.1m；yL N max}
Module 48 is included for by fixing Beta in this seriesN、rN、ΨL N、yL NValue refer to come the program to limit sintering z
Order, this value be just greater than as receive in input end corresponding absolute value of the bias | β |, | r |, | ΨL|、|yL|.
Step 101 is in the first stage by convex optimization searching for a convergent matrix M, when not considering driver to front
The angle of lock that wheel is made controls δrWhen *, this convergent matrix meets following LMI.
M has matrixMinimum mark so that：
M ＞ 0, M=MTAnd there is a1>0, a2>0 makes：
For i=1,2 ..., 23,
Wherein zi=[± βN, ± rN, ± ΨL N, ± yL N]T
As the angle of lock control δ considering that driver is made to front vehicle wheelrWhen *, convergent matrix M meets these linear moments following
Battle array inequality.
M ＞ 0, M=MTAnd there is a1＞ 0, a2＞ 0 makes：
For i=1,2 ..., 23,
These MATRIX INEQUALITIES are in the angle of lock control δ not considering that driver is made to front vehicle wheelfDepend on these when * to move
State variable v and consider that the angle of lock that driver made to front vehicle wheel controls δfThese dynamic variables v, ρ and δ is depended on when *f.
Step 101 therefore receives suitable dynamic variable.In order to when these dynamic variables are the value persistently changing without
Continuously recalculate matrix M, according to circumstances define the discrete of two or three series of being associated with each dynamic variable
Value：
|v|→{0.5m/s；1m/s；1.5m/s；...；vmax-1m/s；vmax-0.5m/s；vmax}
|ρ|→{1/1000m；1/800m；1/600m；...；1/50m}
|δf|→{0.5°；1°；1.5°；...；δfmax-1°；δfmax-0.5°；δfmax}
Then the value being retained is a value just greater than currency.
Obtained matrix M describes an ellipse, and as shown in Figure 4, this ellipse constitutes this and can achieve the outer of set
Approach to cover this to can achieve set.
Still in a step 101, then determine in real time by angle of lock set point δr* it is applied to the one or more of vehicle
Deviation β, r, Ψ in the case of rear wheelL、yLOne group maximum can achieve value βmax、rmax、ΨL max、yL max.These maximums etc.
Square root in the diagonal element of convergent matrix M：
When the computing capability of device 40 is enough, it includes real time access at the input 41,42,43,44 of this device
These receiving represent deviation β, r, ΨL、yLAmount batch processing memory element.Then these memory element comprise one
Program, this program on computers, when running especially on one of flush mounting 40 processor for executing the method
Step 101.
When the computing capability of device 40 is not enough, this device includes being connect by the input 41,42,43,44 in this device
These receiving represent deviation β, r, ΨL、yLAmount is addressable in real time and one group of data that comprise a 4 D data structure
Memory element, this four dimensions include with this representative amount, especially the every kind of of the centrifugal pump of this vector x may be associated in combination
Achievable maximum βmax、rmax、ΨL max、yL max.
Then calculate this group in an outer computer in advance offline and can achieve maximum βmax、rmax、ΨL max、
yL max, and then download it to and access in real time in this data structure, then by module 48.
Then step 102 is to be compared to surpass in a maximum by each achievable maximum and corresponding threshold value
Trigger a step 103 in the case of crossing corresponding threshold value or return to step 100 to repeat this process.
Step 103 is to generate in real time deviation β, r being received with respect to each, ΨL、yLWith the ratio quantifying offline
This angle of lock set point δ that COEFFICIENT K linearly changesr*, as explained above.Step 100 is concurrently repeated.
Claims (10)
1. one kind is used for controlling the device (40) of the track of vehicle (1), and this device one side includes representing one for receiving
One or more deviation (Ψ and actual path of this vehicle between for the reference locus (30)L, yL) at least one amount at least one
Individual input (43,44) and on the other hand include producing at least one angle of lock set point (δ for real-timer* at least)
Individual outfan (46), this at least one angle of lock set point can be applicable at least one rear wheel of this vehicle (1) so that by institute
State vehicle to be maintained on its reference locus and/or return it to its reference locus it is characterised in that this device includes：
- generate with respect to each deviation (Ψ being received for real-timeL, yL) with a proportionality coefficient (k quantifying offlineΨ,
ky) the described angle of lock set point (δ that linearly changesr* at least one module (50)), sets to optimize and to change this angle of lock
Fixed point (δr* mode)；
- at least one supervision module (48), this at least one supervision module is parameterized offline so that in this supervision module
(48) real-time detection is to calculated, at least one deviation (ΨL, yL) threshold value overshoot risk when activate this generation module
(50)；
Wherein said supervision module (48) is included for determining at least one in real time in the case of this generation module (50) activation
Deviation (ΨL, yL) at least one achievable maximum (ΨL max, yL max) device so that detection when described at least one can
Realize maximum (ΨL max, yL max) more than or equal to described overshoot risk during a predetermined threshold value.
2. device as claimed in claim 1 it is characterised in that described device include at least by this device input (43,
44) place receive described in represent one or more deviation (ΨL, yL) amount addressable in real time and comprise and described generation
At least one achievable one group of data storage cell of maximum that the centrifugal pump of table amount is associated.
3. device as claimed in claim 2 is it is characterised in that at least one achievable maximum (ΨL max, yL max) be made by
In a kind of based on calculate offline to the search utility of the convex optimization of convergent matrix (M), this convergent matrix meets at least
One LMI, so that described at least one maximum (ΨL max, yL max) it is equal to the right of described convergent matrix (M)
The square root of angle element.
4. device as claimed in claim 1 is it is characterised in that described device includes the input in this device for the real time access
(43,44) place represents one or more deviation (Ψ described in receivingL, yL) amount and comprise one be based on to convergence square
The batch processing memory element of the search utility of convex optimization of battle array (M), this convergent matrix meets at least one linear matrix inequality technique
Formula, so that at least one achievable maximum (Ψ describedL max, yL max) it is equal to the diagonal element of described convergent matrix (M)
Square root.
5. the device as described in claim 3 or 4 (40) is it is characterised in that the described search utility based on convex optimization is from covering
This one or more deviation (ΨL, yL) a minimum sintering (Zi) start.
6. device (40) as claimed in claim 5 it is characterised in that described minimum sintering (Zi) also covers at least one
Dynamic background value (v, ρ).
7. a kind of method for controlling track of vehicle, the method is by by reference locus representing this vehicle and reality
One or more deviation (Ψ between the track of borderL, yL) at least one amount to produce at least one angle of lock set point in real time
(δr*), this at least one angle of lock set point can be applicable at least one rear wheel of this vehicle to keep described vehicle
On its reference locus and/or return it to its reference locus it is characterised in that the method comprises the following steps, these steps
Suddenly it is：
- determine (101) in an angle of lock set point (δ in real timer* in the case of) being applied at least one rear wheel of this vehicle
At least one deviation (ΨL, yL) at least one attainable maximum (ΨL max, yL max)；
- generate (103) at least one achievable maximum (Ψ when described in real timeL max, yL max) it is more than or equal to a predetermined threshold
Value, described angle of lock set point (δr*) with respect to each deviation (Ψ being receivedL, yL) with a ratio system quantifying offline
Number (kΨ, ky) change to optimize change this angle of lock set point (δr* mode) is thus by described angle of lock set point
(δr*) it is applied at least one rear wheel of this vehicle.
8. it is characterised in that the method comprises the following steps, these steps are method as claimed in claim 7：
- real time access (100) is at least described to represent one or more deviation (ΨL, yL) amount；
- (101) convergent matrixes (M) are searched for by convex optimization, this convergent matrix meets at least one linear matrix inequality technique
Formula, so that at least one achievable maximum (Ψ describedL max, yL max) it is equal to the diagonal element of described convergent matrix (M)
Square root.
9. a kind of equipment for controlling track of vehicle, this equipment is by by reference locus representing this vehicle and reality
One or more deviation (Ψ between the track of borderL, yL) at least one amount to produce at least one angle of lock set point in real time
(δr*), this at least one angle of lock set point can be applicable at least one rear wheel of this vehicle to keep described vehicle
On its reference locus and/or return it to its reference locus it is characterised in that this equipment includes：
- determine (101) in an angle of lock set point (δ for real-timer*) it is applied to the feelings of at least one rear wheel of this vehicle
At least one deviation (Ψ under conditionL, yL) at least one attainable maximum (ΨL max, yL max) device；
- generate (103) at least one achievable maximum (Ψ when described for real-timeL max, yL max) pre- more than or equal to one
Determine the device of threshold value, described angle of lock set point (δr*) with respect to each deviation (Ψ being receivedL, yL) measured offline with one
Proportionality coefficient (the k changingΨ, ky) change to optimize change this angle of lock set point (δr* mode) is thus by described locking
Angle set point (δr*) it is applied at least one rear wheel of this vehicle.
10. equipment as claimed in claim 9 is it is characterised in that this equipment includes：
- represent one or more deviation (Ψ for real time access (100) is at least describedL, yL) amount device；
- for by the convex device optimizing to search for (101) convergent matrixes (M), this convergent matrix meets at least one line
Property MATRIX INEQUALITIES, so that at least one achievable maximum (Ψ describedL max, yL max) it is equal to described convergent matrix (M)
The square root of diagonal element.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR1255188A FR2991276B1 (en) | 2012-06-04 | 2012-06-04 | DEVICE FOR CONTROLLING THE TRACK OF A VEHICLE |
| FR1255188 | 2012-06-04 | ||
| PCT/FR2013/050974 WO2013182769A1 (en) | 2012-06-04 | 2013-05-02 | Vehicle trajectory control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104411566A CN104411566A (en) | 2015-03-11 |
| CN104411566B true CN104411566B (en) | 2017-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380035566.1A Expired - Fee Related CN104411566B (en) | 2012-06-04 | 2013-05-02 | Track of vehicle control device |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP2855240B1 (en) |
| CN (1) | CN104411566B (en) |
| FR (1) | FR2991276B1 (en) |
| WO (1) | WO2013182769A1 (en) |
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| JP6025273B2 (en) * | 2015-03-17 | 2016-11-16 | 富士重工業株式会社 | Vehicle travel control device |
| FR3040349B1 (en) * | 2015-09-01 | 2017-08-11 | Renault Sas | DEVICE AND METHOD FOR CORRECTING THE TRACK OF A MOTOR VEHICLE. |
| FR3044994B1 (en) * | 2015-12-15 | 2022-09-02 | Renault Sas | METHOD FOR DETERMINING A VECTOR OF COEFFICIENTS FOR DETERMINING A STEERING ANGLE TO BE APPLIED TO THE WHEELS OF A MOTOR VEHICLE |
| CN106548643B (en) * | 2016-11-03 | 2019-11-29 | 惠州Tcl移动通信有限公司 | A kind of vehicle driving monitoring method and electronic equipment based on electronic equipment |
| FR3063265B1 (en) | 2017-02-28 | 2019-04-05 | Renault S.A.S | DEVICE FOR CONTROLLING THE TRACK OF A VEHICLE |
| FR3086622B1 (en) * | 2018-09-28 | 2022-06-24 | Renault Sas | DEVICE FOR PLANNING A PATH AND/OR A TRAJECTORY OF A MOTOR VEHICLE |
| FR3094317B1 (en) | 2019-04-01 | 2021-03-05 | Renault Sas | Anticipator module, real-time trajectory control device and associated process |
| CN110632941B (en) * | 2019-09-25 | 2020-12-15 | 北京理工大学 | Trajectory generation method for target tracking of unmanned aerial vehicle in complex environment |
| CN112693631B (en) * | 2020-11-27 | 2022-07-29 | 中国人民解放军国防科技大学 | Initial trajectory generation method and system in online sequential convex optimization of aircraft |
| CN113257007B (en) * | 2021-05-06 | 2022-06-17 | 哈尔滨工业大学 | Signal control method and system for intersection to share automatic driving lane |
| CN113934141B (en) * | 2021-10-21 | 2023-09-12 | 北京理工大学 | Transverse motion control method based on finite time domain robust gain scheduling |
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|---|---|---|---|---|
| EP0927677A1 (en) * | 1997-12-31 | 1999-07-07 | Renault | Control system for an intelligent steering system for a motor vehicle |
| CN101186202A (en) * | 2006-11-22 | 2008-05-28 | 株式会社爱德克斯 | Steering angle control apparatus for vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2004322787A (en) | 2003-04-23 | 2004-11-18 | Nissan Motor Co Ltd | Lane departure prevention device |
| FR2864001B1 (en) | 2003-12-18 | 2007-11-23 | Renault Sas | METHOD AND SYSTEM FOR CONTROLLING THE DIRECT REAR WHEEL BRAKE AND CORRESPONDING VEHICLE |
| FR2880859A1 (en) * | 2005-01-18 | 2006-07-21 | Renault Sas | METHOD FOR CONTROLLING THE ORIENTATION OF THE REAR WHEELS OF A VEHICLE |
| FR2945012B1 (en) * | 2009-04-30 | 2012-10-19 | Renault Sas | METHOD FOR AIDING THE CONTROL OF THE TRACK OF A MOTOR VEHICLE |
| JP5036780B2 (en) * | 2009-10-06 | 2012-09-26 | トヨタ自動車株式会社 | Vehicle control device |
| JP5430505B2 (en) * | 2010-06-25 | 2014-03-05 | トヨタ自動車株式会社 | Vehicle control device |
-
2012
- 2012-06-04 FR FR1255188A patent/FR2991276B1/en active Active
-
2013
- 2013-05-02 EP EP13727247.2A patent/EP2855240B1/en active Active
- 2013-05-02 CN CN201380035566.1A patent/CN104411566B/en not_active Expired - Fee Related
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0927677A1 (en) * | 1997-12-31 | 1999-07-07 | Renault | Control system for an intelligent steering system for a motor vehicle |
| CN101186202A (en) * | 2006-11-22 | 2008-05-28 | 株式会社爱德克斯 | Steering angle control apparatus for vehicle |
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| Publication number | Publication date |
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| WO2013182769A1 (en) | 2013-12-12 |
| CN104411566A (en) | 2015-03-11 |
| EP2855240A1 (en) | 2015-04-08 |
| FR2991276A1 (en) | 2013-12-06 |
| EP2855240B1 (en) | 2016-12-28 |
| FR2991276B1 (en) | 2014-05-16 |
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